EP2156255A4 - Verfahren und system zum führen eines fahrzeugs mit justierung auf vision-basis - Google Patents

Verfahren und system zum führen eines fahrzeugs mit justierung auf vision-basis

Info

Publication number
EP2156255A4
EP2156255A4 EP08745293A EP08745293A EP2156255A4 EP 2156255 A4 EP2156255 A4 EP 2156255A4 EP 08745293 A EP08745293 A EP 08745293A EP 08745293 A EP08745293 A EP 08745293A EP 2156255 A4 EP2156255 A4 EP 2156255A4
Authority
EP
European Patent Office
Prior art keywords
vision
guiding
vehicle
based adjustment
adjustment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP08745293A
Other languages
English (en)
French (fr)
Other versions
EP2156255A1 (de
Inventor
Han Shufeng
Terence Daniel Pickett
John Franklin Reid
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deere and Co
Original Assignee
Deere and Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deere and Co filed Critical Deere and Co
Publication of EP2156255A1 publication Critical patent/EP2156255A1/de
Publication of EP2156255A4 publication Critical patent/EP2156255A4/de
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Traffic Control Systems (AREA)
EP08745293A 2007-05-31 2008-04-08 Verfahren und system zum führen eines fahrzeugs mit justierung auf vision-basis Ceased EP2156255A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/755,965 US7876927B2 (en) 2005-01-04 2007-05-31 Method and system for guiding a vehicle with vision-based adjustment
PCT/US2008/059640 WO2008150573A1 (en) 2007-05-31 2008-04-08 Method and system for guiding a vehicle with vision-based adjustment

Publications (2)

Publication Number Publication Date
EP2156255A1 EP2156255A1 (de) 2010-02-24
EP2156255A4 true EP2156255A4 (de) 2013-01-02

Family

ID=40104707

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08745293A Ceased EP2156255A4 (de) 2007-05-31 2008-04-08 Verfahren und system zum führen eines fahrzeugs mit justierung auf vision-basis

Country Status (5)

Country Link
US (1) US7876927B2 (de)
EP (1) EP2156255A4 (de)
CN (1) CN101681168B (de)
BR (1) BRPI0812070B1 (de)
WO (1) WO2008150573A1 (de)

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US10469579B2 (en) 2010-12-16 2019-11-05 General Electric Company Method and system for data processing in a vehicle group
US9064173B2 (en) 2012-03-07 2015-06-23 Blue River Technology, Inc. Method and apparatus for automated plant necrosis
WO2013167889A2 (en) 2012-05-08 2013-11-14 Smart Pipe Company Inc. Movable factory for simultaneous mobile field manufacturing and installation of non-metallic pipe
CN102889932B (zh) * 2012-09-25 2014-06-04 山东神戎电子股份有限公司 一种抗强光损伤热像仪及其方法
US9091628B2 (en) 2012-12-21 2015-07-28 L-3 Communications Security And Detection Systems, Inc. 3D mapping with two orthogonal imaging views
CN104020781A (zh) * 2013-02-28 2014-09-03 鸿富锦精密工业（深圳）有限公司 量测控制系统及方法
US9658201B2 (en) 2013-03-07 2017-05-23 Blue River Technology Inc. Method for automatic phenotype measurement and selection
US10327393B2 (en) 2013-03-07 2019-06-25 Blue River Technology Inc. Modular precision agriculture system
WO2015013723A2 (en) 2013-07-26 2015-01-29 Blue River Technology, Inc. System and method for plant treatment
CN104463154B (zh) * 2013-09-16 2017-12-29 联想(北京)有限公司 一种信息处理方法及电子设备
TWM477598U (zh) * 2013-11-18 2014-05-01 Weistech Technology Co Ltd 具有路線校正功能之移動裝置
EP3107367B1 (de) 2014-02-21 2023-08-02 Blue River Technology Inc. Verfahren und system zur in-situ-präzisionskalibrierung eines landwirtschaftlichen präzisionssystems zur anpassung an eine behandlungsverzögerung
CN104180818B (zh) * 2014-08-12 2017-08-11 北京理工大学 一种单目视觉里程计算装置
US10928510B1 (en) * 2014-09-10 2021-02-23 Rockwell Collins, Inc. System for and method of image processing for low visibility landing applications
CN104299455A (zh) * 2014-10-27 2015-01-21 重庆布伦坦茨航空技术进出口有限公司 机场特种车辆自动驾驶系统
EP3123260B1 (de) * 2014-12-31 2021-04-14 SZ DJI Technology Co., Ltd. Selektive verarbeitung von sensordaten
CN105842724B (zh) * 2015-01-15 2018-07-17 江苏南大五维电子科技有限公司 一种船舶辅助泊岸方法和系统
WO2016144795A1 (en) 2015-03-06 2016-09-15 Blue River Technology Inc. Modular precision agriculture system
US10139279B2 (en) 2015-05-12 2018-11-27 BioSensing Systems, LLC Apparatuses and methods for bio-sensing using unmanned aerial vehicles
EP3350554A4 (de) * 2015-09-18 2019-06-12 Slantrange, Inc. Systeme und verfahren zur bestimmung von statistiken von pflanzenbeständen auf der basis von optischen overheadmessungen
US9878711B2 (en) 2015-12-14 2018-01-30 Honda Motor Co., Ltd. Method and system for lane detection and validation
US10228460B1 (en) 2016-05-26 2019-03-12 Rockwell Collins, Inc. Weather radar enabled low visibility operation system and method
CN106352874A (zh) * 2016-08-15 2017-01-25 杭州阿优文化创意有限公司 室内机器人的路径回归方法
JP6867184B2 (ja) * 2017-02-13 2021-04-28 トヨタ自動車株式会社 運転支援装置
JP7153895B2 (ja) * 2017-12-14 2022-10-17 学校法人立命館 自律移動システム及びコントローラ
EP3821423B1 (de) * 2018-07-11 2025-04-16 Raven Industries, Inc. Adaptive farbtransformation zur unterstützung des maschinellen sehens
US11212954B2 (en) 2019-05-08 2022-01-04 Deere & Company Apparatus and methods for field operations based on historical field operation data
EP3996485A4 (de) 2019-07-11 2023-08-02 Raven Industries, Inc. Bestimmung des höhenunterschieds von bildmerkmalen
US12024862B2 (en) 2020-02-07 2024-07-02 Caterpillar Inc. System and method of autonomously clearing a windrow
US12016257B2 (en) 2020-02-19 2024-06-25 Sabanto, Inc. Methods for detecting and clearing debris from planter gauge wheels, closing wheels and seed tubes
US11576364B2 (en) 2020-03-30 2023-02-14 Cnh Industrial America Llc System and method for determining agricultural vehicle guidance quality based on a crop row boundary consistency parameter
CN111766874B (zh) * 2020-06-12 2024-06-11 广州极飞科技股份有限公司 作业设备的控制方法及相关装置
US12461083B2 (en) 2020-08-03 2025-11-04 Sabanto, Inc. Methods for improved agricultural procedures
WO2022125999A1 (en) * 2020-12-11 2022-06-16 Raven Industries, Inc. Sensor fusion in agricultural vehicle steering
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
GB202107499D0 (en) * 2021-05-26 2021-07-07 Agco Int Gmbh Material detection and handling of material irregularities
US11622495B2 (en) 2021-06-01 2023-04-11 Gint Co., Ltd. Method of automatically combining farm vehicle and work machine and farm vehicle
US12443180B2 (en) 2021-11-10 2025-10-14 Techtronic Cordless Gp Robotic lawn mowers
AU2023200381A1 (en) 2022-01-31 2023-08-17 Techtronic Cordless Gp Robotic garden tool
EP4270138A1 (de) 2022-04-28 2023-11-01 Techtronic Cordless GP Erzeugung einer virtuellen grenze für ein robotisches gartenwerkzeug
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
AU2023204696A1 (en) 2022-07-19 2024-02-08 Techtronic Cordless Gp Display for controlling robotic tool
AU2023206123A1 (en) 2022-07-29 2024-02-15 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool

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US20060147088A1 (en) * 2005-01-04 2006-07-06 Deere & Company, A Delaware Corporation Method and system for guiding a vehicle with vision enhancement
US20060147089A1 (en) * 2005-01-04 2006-07-06 Deere & Company, A Delaware Corporation Method and system for guiding a vehicle with vision-based adjustment
US20060149472A1 (en) * 2005-01-04 2006-07-06 Deere & Company, A Delaware Corporation. Vision-aided system and method for guiding a vehicle
US20070071311A1 (en) * 2005-09-28 2007-03-29 Deere & Company, A Delaware Corporation Method for processing stereo vision data using image density

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US6490539B1 (en) * 2000-02-28 2002-12-03 Case Corporation Region of interest selection for varying distances between crop rows for a vision guidance system
US20060147088A1 (en) * 2005-01-04 2006-07-06 Deere & Company, A Delaware Corporation Method and system for guiding a vehicle with vision enhancement
US20060147089A1 (en) * 2005-01-04 2006-07-06 Deere & Company, A Delaware Corporation Method and system for guiding a vehicle with vision-based adjustment
US20060149472A1 (en) * 2005-01-04 2006-07-06 Deere & Company, A Delaware Corporation. Vision-aided system and method for guiding a vehicle
US20070071311A1 (en) * 2005-09-28 2007-03-29 Deere & Company, A Delaware Corporation Method for processing stereo vision data using image density

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Title
See also references of WO2008150573A1 *

Also Published As

Publication number Publication date
BRPI0812070B1 (pt) 2018-11-06
US20080065286A1 (en) 2008-03-13
WO2008150573A1 (en) 2008-12-11
EP2156255A1 (de) 2010-02-24
CN101681168A (zh) 2010-03-24
CN101681168B (zh) 2011-05-18
US7876927B2 (en) 2011-01-25
BRPI0812070A2 (pt) 2014-11-25

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